Mitsubishi Electric FX3U-CAN, User Manual

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5 Introduction of Functions
5.6 Communication Profile Area
57
FX
3U
-CAN User's Manual
1
Introduc
tion
2
Specifi
cations
3
Inst
allati
on
4
Wi
rin
g
5
Introduc
tion of
Functions
6
All
ocation of
B
uff
er
Memor
ies
7
Interface and D
evice P
rofile
(40
5 mode)
8
Lift Appl
icati
on
P
ro
file
(417 M
ode)
9
CAN
Layer 2
Mode
10
Comm
and
Interface
5.6.5 RPDO / TPDO
Real-time data transfer is performed by means of Process Data Objects (PDO). PDO transfer is performed
with no protocol overhead.
PDOs correspond to objects in the object dictionary and provide the interface to the application objects. Data
type and mapping of application objects into a PDO is determined by a corresponding default PDO mapping
structure within the object dictionary. The variable mapping of PDO and the mapping of application objects
into a PDO may be transmitted to a CANopen
®
device during the configuration process by applying the SDO
services to the corresponding objects of the object dictionary.
The PDO communication parameter describes the communication capabilities of the PDO. The PDO
mapping parameter contains information about the contents of the PDO.
With the transmission type Parameter, two transmission modes are configurable:
• Synchronous transmission
• Event-driven transmission
Use the following procedure to change the PDO communication or mapping parameter:
1) The PDO must be set to invalid (Communication Parameter Sub-index H01 bit 31).
2) Set the communication Parameters
3) Set the mapping Parameters
- Set Sub-Index H00 to the value H00.
- Modify the mapping at Sub-Indexes H01 to H08.
- Enable the mapping by setting the Sub-index H00 to the number of mapped objects.
4) Set the PDO to valid (Communication Parameter Sub-index H01 bit 31).
For unneeded data in an RPDO, a dummy mapping entry can be made to the data type definition Indexes to
make the RPDO length fit the length of the TPDO accordingly.
→ For data type definitions indexes, refer to Section 5.5
Process data : L bytes of application data
Process data
0 < L ≤ 8
Request
Request
PDO consumers PDO producer
Inhibit time
Indication
Indication
Indication